Electric fin stabilizer

ABSTRACT

A marine vessel stabilizer and control including a fin having a stem extending into the hull. An arm is connected to the stem and extends towards a connector which is connected to a rod. A housing is connected to another end of the rod and a screw passes through the housing. A motor is connected to the screw and configured to rotate to rotate the fin. A controller is connected to the motor, a speed sensor, a roll sensor and a fin position sensor such that a control signal can be calculated and the position of the fin can be determined to reduce roll of the vessel both when making headway and when at rest (zero speed). When the vessel is at rest, the fin is be configured to rotate through maximum angles greater than 15 degrees from either side of a neutral position.

FIELD OF THE INVENTION

The invention relates to stabilizers and control systems for stabilizersthat are used for marine vessels both when making headway and at rest(e.g. zero speed).

BACKGROUND OF THE INVENTION

Fin roll stabilizers are commonly mounted to the bottom of a vesselbelow the waterline, usually close to the turn of the bilge. These finsrotate about an axis that is perpendicular to the lengthwise axis of thevessel. The stabilizers are generally aligned parallel to the lengthwiseaxis of the vessel and rotation of these fins reduces roll of thevessel. The fin roll stabilizers act in some ways that are similar toailerons on an airplane.

Traditional fin roll stabilizers for marine vessels are poweredhydraulically. In order to create a functioning stabilizing system, acomplicated setup of hydraulic plumbing, valves, cylinders and pumps areneeded to operate and control the stabilizer. In addition, a reservoirmust be provided to supply the pumps with hydraulic fluid and a coolingsystem and filter is needed to prevent overheating and to keep the fluidclean. The hydraulic system components all need connection with hose orpipe which can run long distances within a vessel and be difficult toinstall and require maintenance.

Electrical sensors and controls are then needed to operate variousvalves within the hydraulic system to allow the stabilizers to movethrough varying degrees of rotation that depend on vessel speed and waveconditions that are causing the vessel to roll.

The hydraulic system also comes with added environmental concernsassociated with hydraulic oil because a leak in the system can bleed into the bilge of the vessel and be pumped out with bilge water into theocean or other body of water where the marine vessel is operating.

The hydraulic fluid is often put under high pressure such that theassociated parts within the system must be designed to withstand thatsubstantial pressure. This adds cost to the system. In addition, air inthe hydraulic system can cause control problems and when the air bubblescollapse they generate intense localized heat in the hydraulic oilleading to system overheating and early hydraulic component failure. Airin the system can also cause objectionable noise and vibrationtransmitted throughput the vessel via the interconnecting hydraulicpiping.

Another concern of a shipboard hydraulic system is fire. At higherpressures the hydraulic system is more prone to leaks and when a leakoccurs the oil can mist or spray onto hot surfaces in the vessel'smachinery spaces or be vaporized, and when exposed to a source ofignition vaporized oil causes fire.

One alternative to hydraulics has been direct drive electric motors thatrotate the fin shaft. Stabilizer fins often require high torque tooperate such that a direct drive motor needs to be relatively large andheavy. A reduction gear between the motor and fin would reduce the motorsize, but the gear arrangement and motor together adds a significantheight to the stabilizer and may not fit in the confined space withinthe hull.

In addition, failure of part of the stabilizer system can result in acrippled vessel because the fins may be in fixed positions that make itdifficult to move the vessel under power. For example, if the fin is at20 degrees to the lengthwise axis of the vessel, moving the vesselthrough the water will cause an un-desired list and fin drag when underpower.

SUMMARY OF THE INVENTION

It is therefore an object of the invention to provide a fin rollstabilizer that avoids use of expensive and complicated hydraulics andallows for easy installation and maintenance while still fitting intight spaces of vessel hulls.

It is another object of the invention to provide a manual locking systemthat allows the position of the fins to be placed in a fixed and neutralposition in the event of a failure.

The terms “first” and “second” are used to distinguish one element, set,object or thing from another, and are not used to designate relativeposition or arrangement in time.

The terms “coupled”, “coupled to”, “coupled with”, “connected”,“connected to”, and “connected with” as used herein each mean arelationship between or among two or more devices, apparatus,constituting any one or more of (a) a connection, whether direct orthrough one or more other devices, apparatus, components, systems,subsystems, (b) a communications relationship, whether direct or throughone or more other devices, apparatus, files, programs, media,components, networks, systems, subsystems, or means, and/or (c) afunctional relationship in which the operation of any one or moredevices, apparatus, components, systems, or subsystems, depends, inwhole or in part, on the operation of any one or more others thereof.

These and other objects are achieved by providing a marine vesselstabilizer and control system including a fin having a stem extendinginto the hull. An arm is connected to an end of the stem and extendstowards a connector. The connector is connected to one end of a rod. Ahousing is connected to another end of the rod and a screw passesthrough the housing such a hollow section of the rod is arrangedconcentrically around the screw. A motor is connected to the screw andconfigured to rotate to thereby rotate the fin. A controller isconnected to the motor, a speed sensor, a roll sensor and a fin positionsensor such that a control signal can be calculated and the position ofthe fin can be determined to reduce roll of the vessel both when makingheadway and when at rest.

In one aspect a marine vessel stabilizer is provided and includes a finhaving a stem extending therefrom towards an end. The stem is configuredto extend through a hull of the marine vessel and further configured torotate. An arm is connected to the end and extends away from the end toa connector. A rod includes a hollow section and is connected at a firstend to the connector. A housing is coupled to a second end of the rod. Ashaft passes through the housing such that the hollow section isarranged concentrically around the shaft. A motor is connected to theshaft and is configured to rotate the shaft to cause translationalmovement of the housing along an axis of the shaft to thereby rotate thefin.

The housing and shaft may make up a ball screw such that the shaftdefines a helical raceway that receives ball bearings located inside thehousing. A removable stop may be configured to engage the arm such thatwhen the removable stop is engaged, the fin is fixed in a pre-determinedposition.

A sensor may be configured to read an angle of the fin and a controlleris coupled to the sensor and motor and a roll sensor of the vessel. Thecontroller reads from the roll sensor: a roll angle of the marinevessel, a change in the roll angle and combinations thereof. Softwareexecutes on the controller (which includes a processor or may be part ofa computer) and the software calculates indicative of a desired positionof the fin to reduce roll of the vessel. Typically, if the vessel isrolling to port, the port stabilizer will create an upward force and thestarboard stabilizer will create a downward force to create a rollmoment that acts on the marine vessel in opposition to the natural rollmotion of the marine vessel. Since the motion of the vessel is oftencyclical, the stabilizers may rotate back and forth opposite the roll ofthe vessel.

The controller transmits the control signal to the motor to therebyrotate the fin towards the desired position. The controller monitors aposition of the fin via the sensor to determine when the position hasreached the desired position.

In some cases, the sensor is a potentiometer and the sensor is coupledto the stem or the sensor is an encoder and is coupled to the motor orthe housing. The controller may also communicate with a speed sensor toread a value indicative of a speed of the marine vessel. The desiredposition (and control signal) can be calculated at least in part basedon the reading from the roll sensor and the value of the speed sensor.In some embodiments the roll sensor can measure various components ofroll including roll angle, roll velocity, roll acceleration andcombinations thereof.

A fixed housing may be coupled to the stem such that the stem rotateswithin the fixed housing. A removable stop may be configured to engagethe fixed housing and the arm such that when the removable stop isengaged, the fin is fixed in a pre-determined position which may be aneutral position. The neutral position may place a lengthwise axis ofthe fin parallel to the lengthwise axis of the marine vessel. Thelengthwise axis of the marine vessel is ordinarily found along a centerplane (bow to stern) and is generally parallel to the water line.

The removable stop may be a pin that engages the fixed housing and thearm via a hole in the fixed housing and a hole in the arm. A screw islocated in the fixed housing and is configured to rotate to contact andmove the arm to align the hole of the fixed housing with the hole of thearm to allow the removable stop to engage.

In other aspects a marine vessel stabilizer is provided including a finhaving a stem extending therefrom towards an end. The stem is configuredto extend through a hull of the marine vessel and further configured torotate. An arm is connected to the end and extends away from the end ata distance to a connector such that the connector is spaced apart from acenter of the stem to create a lever. A rod is connected at a first endto the connector and a housing is coupled to a second end of the rod. Ashaft passes through the housing and is connected to a motor configuredto rotate the shaft to cause translational movement of the housing alongan axis of the shaft which thereby rotates the fin. Other featuresdescribed herein may be included in this embodiment.

In other aspects a marine vessel stabilizer is provided with a finhaving a stem extending therefrom towards an end, the stem configured toextend through a hull of the marine vessel. A fixed housing receives thestem through a hole in the fixed housing and the stem is configured torotate in the hole. An arm is connected to the end and extends away fromthe end at a distance to a connector such that the connector is spacedapart from a center of the stem to create a lever. A removable stop isconfigured to engage the fixed housing and the arm such that when theremovable stop is engaged, the fin is in a pre-determined position.Other features described herein may be included in this embodiment.

In another aspect a marine vessel stabilizer system is providedincluding a fin having a stem extending therefrom towards an end, thestem configured to extend through a hull of the marine vessel andfurther configured to rotate. An arm is connected to the end and extendsaway from the end to a connector. A rod has a hollow section and isconnected at a first end to the connector. A housing is coupled to asecond end of the rod. A shaft passes through the housing such that thehollow section is arranged concentrically around the shaft. A motor isconnected to the shaft and is configured to rotate the shaft such thatrotation of the shaft causes translational movement of the housing alongan axis of the shaft to thereby rotate the fin. A controller is incommunication with the motor, a sensor and a roll sensor. The controllercalculates a control signal for the motor based on a reading from thesensor indicative of a position of the fin and a value from the rollsensor indicative of: a roll angle of the marine vessel, a change inroll angle of the marine vessel and combinations thereof. A fixedhousing receives the stem through a hole in the fixed housing. The stemis configured to rotate in the hole. A removable stop is configured toengage the fixed housing and the arm such that when the removable stopis engaged, the fin is in a neutral position in the event of a failureof one or more parts of the marine vessel stabilizer system.

The connector may be removable to allow the arm to rotate to align thefixed housing and the arm so the removable stop can be installed.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of the fin roll stabilizer according to thepresent invention

FIG. 2 is a right side view of the fin roll stabilizer of FIG. 1

FIG. 3 is left side view of the fin roll stabilizer of FIG. 1

FIG. 4 is a top partial cutaway view of the fin roll stabilizer of FIG.1

FIG. 5 is a top view of the fin roll stabilizer of FIG. 1 furthershowing the control system thereof.

FIG. 6 is a perspective view of a vessel having the fin roll stabilizerof FIG. 1 installed thereon.

FIG. 7 is a perspective view of the fin shown in FIG. 1

FIG. 8 is a side view of the fin of FIG. 1 showing an example pressuredistribution thereon due to rotation of the fin.

DETAILED DESCRIPTION OF THE INVENTION

Referring now to the drawings, wherein like reference numerals designatecorresponding structure throughout the views. The following examples arepresented to further illustrate and explain the present invention andshould not be taken as limiting in any regard.

The stabilizer 1 includes a fin 2 that is installed on the outside ofthe vessel hull 6. The fin is generally installed in the hull below thewaterline usually near the turn of the bilge such that rotation of thefin in the water creates a roll moment acting on the marine vessel thatcounteracts roll of the marine vessel due to conditions of the body ofwater in which the vessel is operating. As shown in FIG. 6, the plane offin 2 is mounted normal to the hull, but other mounting angles arecontemplated. As can be understood in FIG. 6, the stem 4 isapproximately perpendicular to the lengthwise axis of the vessel whenviewed from the side, but need not be depending on hull shape or otherfactors. As but one example, four or more fins could be mounted to thehull and the forward pair of fins would be approximately normal to thehull, but not necessarily perpendicular to the lengthwise axis. The fin2 includes a stem 4 which extends into the hull 6. The hull includes amount 5 that is connected to the fixed housing 37 of the stabilizermechanism 1. A seal 50 keeps the hull watertight while allowing the stem4 and fin 2 to rotate.

The fixed housing 37 includes a hole with a bearing 7 therein thatreceives the stem 4. The end of the stem 4 that extends into the fixedhousing 37 is coupled to an arm 8 to allow rotation of the arm to rotatethe fin. One end of the arm includes a hole that receives a connector 10that couples the arm to a rod 12. The connector 10 may be removable thatcan be taken out in the event of a failure of the system. For example,if the motor 20 becomes locked in place, the connector 10 can be takenout and the fin 2 can be locked in a neutral position as discussed infurther detail below.

The rod 12 shown includes a hollow section. A shaft 16 is concentricallyarranged with the rod 12 and is located inside the hollow section(depending on the position of the fin). As the shaft 16 rotates, housing14 moves back and forth (depending on the shaft rotation direction)along the axis of the shaft. The other end of the rod 12 is coupled tothe housing 14. The shaft 16 is rotated by the motor 20 to cause lineartranslation of the housing 14 and thereby cause rotation of the arm 8and fin 2. It is understood that the rod 12 being coupled/connected tothe housing 14 could mean that these parts are two separate pieces thatare bolted or otherwise fastened together or it could also mean that therod 12 and housing 14 are sections of a single part that is milled/castor otherwise formed to provide the parts that make up the ball screwthat provides the linear actuation.

FIG. 4 shows the fin stabilizer as a partial cutaway view with cover 38removed. The housing 14 and shaft 16 are shown arranged as a ball screw,but it is understood that other linear actuation systems can be used.The housing 14 includes a number of balls 28 therein and the housingalso includes helical race section 140, and the shaft 16 is configuredas a screw to define a second helical race section 142. The housingholds the balls 28 in place relative to the housing (and inside thehelical race section 140). This allows rotation of the shaft 16 to causetranslational movement 18 of the rod 12 along the axis of the shaft.Although a ball screw configuration is shown, others may be used, forexample a threadless ball screw can be used or a simple threaded nut orsection could be considered one type of housing used. Other linearactuator mechanisms that are driven by electrical motors could be used.

In one embodiment shown (see FIG. 5), the motor 20 drives a belt/pulleymechanism. Small pulley 22 is connected to the motor shaft and drivebelt is connected between the small pulley 22 and large pulley 24. Largepulley 24 is connected to shaft 16, thus connecting the drive shaft ofthe motor 20 to the shaft 16. It is understood that various geararrangements can be included or replace the belt/pulley mechanism shown.

The cover 38 of the fixed housing 37 is shown with sensor 30 arrangedtherein. Sensor 30 as shown is a potentiometer, meaning that as part ofthe potentiometer rotates, the electrical resistance thereof changes.Based on the resistance, it is possible to determine the angle of thefin because part of sensor 30 is connected to the stem 4 of the fin 2.

It is understood that the potentiometer may be replaced with an encoder.For example linear encoders are known in the art. See U.S. Pat. No.3,816,003, the content of which is incorporated herein by reference.This linear encoder may be positioned to contact the housing 14 as it ismoved back and forth and the linear encoder may be connected to thecontroller 32 or motor controller 21. Other encoders may be used. Asanother alternative, optical rotation encoders such as the one disclosedin U.S. Pat. No. 4,152,589, the content of which are incorporated hereinby reference. This rotational encoder may be connected to the motor(i.e. a rotating part such as the drive shaft thereof or one of theother rotating parts coupled to the motor). Based on the number ofrotations of the encoder, the position of the fin can be determined aswould be apparent to one of skill in the art. An example encoder isshown in the figures, for example, see the round part of the motoropposite the pulleys (near the end of emergency screw 40′).

Emergency screws 40/40′ are arranged in the fixed housing 37 and can beused in the event of failure. Removable stop 42 is arranged in a hole 44in the cover 38. If there is a failure that requires manual override, auser is able to rotate the emergency screws 40/40′ to thereby contactarm 8 at location 70 and rotate the arm 8 into alignment with hole 44.As shown, the arm 8 includes two sides, one for the connector 10 and theother for the removable stop 42. Hole 45 receives the removable stop 42when aligned with hole 44. The removable stop 42 is shown with twopositions, retracted (not in contact with arm 8) and extended such thatthe pin of the removable stop 42 engages with holes 44 and 45 to lockthe fin in a neutral position that minimizes the impact of the fin 2 onthe roll of the vessel. It is understood that the stabilizer 1 caninclude a storage location for the removable stop 42 to be held when notengaged in the emergency/failure condition.

Sensor 30 is in communication with a controller 32. Controller 32 isalso in communication with motor 20 and roll sensor 34. Roll sensor 34allows the controller 32 to determine angle or change in angle of thehull about the lengthwise axis of the vessel. Based on the angle, rateof change of the angle, or acceleration of the angle (or a combination),the software 36 of the controller 32 determines a control signal that istransmitted to the motor 20. The control signal will indicate a desiredposition of the fin that is calculated by the controller. The controllerthen monitors sensor 30 to determine when the desired position is met.Part of the control signal may indicate how quickly fin 2 is to berotated, the controller can determine this value based on a rate ofchange of the angle as measured via sensor 30.

It is understood that the controller may be configured as a feedbackloop that regularly adjusts the desired position of the fin based on theactual impact to the roll angle (or rate of change or accelerationtherof) as determined via the roll sensor 34. As shown, roll sensor 34allows for measurement of the roll angle 304 (or rate of change oracceleration in the roll angle). The fin 2 angle range 200 would besynchronized with the roll angle/change and/or acceleration in rollangle to counteract and reduce the total roll of the marine vessel.

Speed sensor 35 may also be relevant to the controller. For example, theamount of movement of the fin required to counteract roll of the vesselat rest may be much larger than when the vessel is making headway. Forexample, FIG. 6 shows a large angle range 200 in rotation of the fin 2.It is understood that when making headway, the angle range 200 may belarger, smaller or may be fixed, depending on the waterway conditions,the operation of the vessel and hydrodynamic parameters of the vesseland the fin 2. As one example, the control signal may indicate smallerchanges in desired positon(s) of the fin when speed sensor 35 indicatesthat the vessel is making headway and as the speed is greater, smallerangle ranges 200 or changes in angle may be used. Many speed sensorsexist such as impellers, pitot tubes, GPS and others and one or more ofthese and other known sensors could be used to determine speed of thevessel. It is also understood that the vessel may not be making headwaybut that it may be moored in a current. The speed sensor may beconfigured to determine the speed of the boat relative to the currentand this speed can be used to allow the controller to adjust the controlsignal appropriately (i.e. smaller change in fin rotation angle due toexpected increase in moment due to current).

The shaft 16 and housing 14 are configured to allow for the stabilizerto operate both when the vessel is at rest (i.e. at anchor, moored,adrift) and when making headway. Therefore, the shaft 16 is sufficientlylong to enable relatively large changes in the fin rotation angle andmovement of the housing between ends of the shaft. For example, the finmay rotate 40 degrees on either side of neutral when the vessel is atrest. Larger and smaller maximum angles are contemplated. In someembodiments, the maximum rotation is at least 15, at least 25 or atleast 35 degrees on either side of neutral.

As can be seen in FIG. 7, the fin 2 is of a foil shape that has a chordlength defined as a distance between a nose 70 and a tail 72 of the fin.Other shapes can be used for the fin and the specific shape shown isexemplary only. In the example shown, the tail is tapered 74 towards thenose, however, the angle of the taper 74 could be vertical. The taper 74could also increase the cord length outwardly such that the root cord(near the hull) is shorter than the tip cord (distal of the hull) oralternatively, the fin could be configured as a swept foil where theleading and trailing edge both extend aft from root to tip. Many foilsshapes are known in the art. For example the National Advisory Committeefor Aeronautics (NACA) publishes data on numerous foils. Although NACAdata commonly refers to airfoils, the data is generally applicable toother foils such as hydrofoils the only difference being the fluidmedium. Commonly, these NACA airfoil shapes are dimensionless such thatany given chord length allows one to generate the foil shape, forexample, coordinates on the shape are often specified as % chord fromnose (x axis) and % chord (y axis), but other curves and patterns can beused to define the shape of the foil. The foil used for the fin 2 wouldmost often be selected from a symmetrical type of foil, i.e. a foil thathas the same shape above and below a centerline drawn from nose to tail.These are sometimes referred to as a “tear drop” shape. This shapeallows for low drag when the marine vessel is making headway, but thelength of the foil provides sufficient surface area such that when themarine vessel is at rest, rotation of the stem can generate a rollmoment to counteract the roll of the vessel.

Depending on the foil selected, stall angles can be measured bymeasuring lift of the foil in a fluid tunnel, or stall angles may havealready been determined by NACA data. A stall is a condition that occurswhere the angle of attack increases beyond a certain point such that thelift begins to decrease. This commonly is relevant when the foil ismoving through the water (when the marine vessel is making headway). Theangle at which this occurs is called the critical angle of attack and isreferred herein as a “stall angle.” This angle is dependent upon thefoil section or profile of the fin, its planform, its aspect ratio, itsspeed through the water, and other factors, but is typically in therange of 10 to 30 degrees relative to the incoming flow for most foils.The critical angle of attack (“stall angle”) is the angle of attack onthe lift coefficient versus angle-of-attack curve at which the maximumlift coefficient occurs.

Flow separation begins to occur at small angles of attack while attachedflow over the fin is still dominant. As angle of attack increases, theseparated regions on the top of the fin increase in size and hinder thefin's ability to create lift. At the critical angle of attack, separatedflow is so dominant that further increases in angle of attack produceless lift and vastly more drag.

When the marine vessel is making headway, the fin may be limited by thecontroller to operate within a maximum range of angles that areconstrained by the stall angle on either side of neutral. When thevessel is making headway, small changes in the angle can generate verylarge lifts on the foil and in this case, the foil acts as would beexpected based on NACA data. For example, the center of pressure on thefoil may be located close to the quarter-chord point. Most foilsgenerate a center of pressure located between 20-30% of the chordlength.

However, when the marine vessel is at rest, lift forces due to the angleof attack of the fin and the speed of the fin through the water arelargely irrelevant because the speed is too low to generate anysignificant lift or roll moment. At rest, the angular speed/accelerationof the fin about the axis of the stem is what causes the roll momentgenerated by the fin that counteracts the roll of the marine vessel. Inorder to generate this roll moment at rest, high torque levels areneeded.

FIG. 8 shows an example of the forces generated as the fin rotates whilethe marine vessel is at rest (zero speed). In this figure, the fin isrotating counter clockwise and as can be seen, the pressure isdistributed such that larger pressures are created where the fin ismoving faster (i.e. closer to the tail 72). In this instance, the centeror pressure is located at a distance approximately ⅔ of the chord lengthmeasured from the nose.

Therefore, at rest, the stabilizer is configured to use the linearactuator system described herein and to rotate through angle ranges (oneither side of neutral) that are greater than the stall angle. Inaddition a change or rate of change of the fin rotation angle causes theroll moment or alternatively that so long as the fin rotation angle ischanging a roll moment is generated by the fin. With one exception beingthat at the end of the travel of the fin where the fin momentarily stopsand the flow/circulation of the fluid momentarily causes a roll momentgenerated by the stabilizer.

The controller 32 may also be configured to limit rotation of the motor20 based on the position of the housing 14 relative to the shaft 16.This would prevent the shaft from rotating too far such that the housingeither comes off one end of the shaft or the housing becomes stuck atthe end of the shaft that is connected to the motor (or pulley 24).

The fixed housing 37 may also be configured to prevent over rotation ofthe shaft 16. As can be seen, edges 31/31′ or emergency screws 40/40′may act as stops that restrict rotation of the arm 8 and therebyrestrict how far rod 12 can move back and forth. The positioning ofedges 31/31′ or emergency screws 40/40′ can be such that housing 14always stays engaged with the shaft 16 without over-rotating. It is alsounderstood that adjustable stop 33/33′ may be connected to an edge31/31′ to provide an electrical signal to motor controller 21, asadjusted to the arm 8. It is understood that these adjustable stops33/33′ may be connected both to the arm 8, both to the edges 31/31′ andcombinations thereof.

It is also understood that limit sensors can be enclosed within theactuator assembly 331 and connected to motor controller 21 or controller32 (or both). For example a limit sensor may be located close to eitherend of the shaft 16 such that when the housing 14 comes in contact withthe limit sensor, the motor shuts off or cannot rotate the screw furtherin the direction that would move the housing beyond the limit sensor.Various optical and mechanical switches/sensors could be used for theselimit sensors as would be understood to one of skill in the art. Theselimit sensors may be coupled directly to a separate motor controller 21or the controller 32. The motor controller 21 may be a DC or AC motorcontroller, depending on which type of motor is being used. The motorcontroller would then be coupled to controller 32.

The motor controller 21 may be a servo controller in some embodiments.Some examples of servo controllers use position feedback to close thecontrol loop. This is commonly implemented with encoders, resolvers, andHall effect sensors to directly measure the position of the motor rotor.Other position feedback methods measure the back EMF (electro motiveforce) in the undriven coils to infer the rotor position, or detect theKick-Back voltage transient (spike) that is generated whenever the powerto a coil is instantaneously switched off. A servo may be controlledusing pulse-width modulation (PWM). How long the pulse remains highdetermines where the motor will try to position itself. Other motortypes and motor controllers would be apparent to one of skill in the artand the specific embodiment described is not limiting.

Although the invention has been described with reference to a particulararrangement of parts, features and the like, these are not intended toexhaust all possible arrangements or features, and indeed many othermodifications and variations will be ascertainable to those of skill inthe art.

What is claimed is:
 1. A marine vessel stabilizer comprising: a finhaving a stem extending therefrom, the stem configured to extend througha hull of the marine vessel and further configured to rotate, the stemhaving an end; an arm connected to the end and extending away from theend to a connector; a rod having a hollow section and connected at afirst end to the connector; a housing coupled to a second end of saidrod; a shaft passing through said housing such that the hollow sectionis arranged concentrically around said shaft; an electric motorconnected to said shaft and configured to rotate said shaft such thatrotation of said shaft causes translational movement of said housingalong an axis of said shaft to thereby rotate said fin.
 2. A marinevessel stabilizer comprising: a fin having a stem extending therefrom,the stem configured to extend through a hull of the marine vessel andfurther configured to rotate, the stem having an end; an arm connectedto the end and extending away from the end to a connector; a translationdevice including a rod, a housing, a shaft and first and second ends;the rod having a hollow section; the housing coupled to said rod; theshaft passing through said housing such that the hollow section isarranged concentrically relative to said shaft; said translation deviceconnected to said connector a motor connected to said translation deviceand configured to rotate a part thereof such that the rotation of partof the translation device causes rotation of said fin; wherein said finis a foil shape; and a controller in communication with said motor andconfigured to rotate said fin such that a center of pressure of wateragainst said fin is located at a distance from a nose of said fin atleast 50% or more of a chord length of said fin.
 3. A marine vesselstabilizer comprising: a fin having a stem extending therefrom, the stemconfigured to extend through a hull of the marine vessel and furtherconfigured to rotate, the stem having an end; an arm connected to theend and extending away from the end to a connector; a translation deviceincluding a rod, a housing, a shaft and first and second ends; the rodhaving a hollow section; the housing coupled to said rod; the shaftpassing through said housing such that the hollow section is arrangedconcentrically relative to said shaft; said translation device connectedto said connector a motor connected to said translation device andconfigured to rotate a part thereof such that the rotation of part ofthe translation device causes rotation of said fin; a controller incommunication with said motor and configured to rotate said fin throughan angle of at least 15 degrees on either side of a neutral positionsaid fin when the marine vessel is at rest.
 4. The device of claim 3wherein said angle is at least 25 degrees.
 5. The device of claim 4wherein said angle is at least 35 degrees.
 6. A marine vessel stabilizercomprising: a fin having a stem extending therefrom, the stem configuredto extend through a hull of the marine vessel and further configured torotate, the stem having an end; an arm connected to the end andextending away from the end to a connector; a translation deviceincluding a rod, a housing, a shaft and first and second ends; the rodhaving a hollow section; the housing coupled to said rod; the shaftpassing through said housing such that the hollow section is arrangedconcentrically relative to said shaft; said translation device connectedto said connector a motor connected to said translation device andconfigured to rotate a part thereof such that the rotation of part ofthe translation device causes rotation of said fin; and a fin rotationangle measured about the stem, and wherein so long as the fin rotationangle is changing a roll moment is generated by the fin.
 7. A marinevessel stabilizer comprising: a fin having a stem extending therefrom,the stem configured to extend through a hull of the marine vessel andfurther configured to rotate, the stem having an end; an arm connectedto the end and extending away from the end to a connector; a translationdevice including a rod, a housing, a shaft and first and second ends;the rod having a hollow section; the housing coupled to said rod; theshaft passing through said housing such that the hollow section isarranged concentrically relative to said shaft; said translation deviceconnected to said connector a motor connected to said translation deviceand configured to rotate a part thereof such that the rotation of partof the translation device causes rotation of said fin; wherein said finis of a foil shape having a stall angle and further comprising acontroller configured to rotate said fin at an angle on either side of aneutral position through an angle that is greater than said stall anglewhen the marine vessel is at rest.
 8. A marine vessel stabilizercomprising: a fin having a stem extending therefrom, the stem configuredto extend through a hull of the marine vessel and further configured torotate, the stem having an end; an arm connected to the end andextending away from the end to a connector; a translation deviceincluding a rod, a housing, a shaft and first and second ends; the rodhaving a hollow section; the housing coupled to said rod; the shaftpassing through said housing such that the hollow section is arrangedconcentrically relative to said shaft; said translation device connectedto said connector a motor connected to said translation device andconfigured to rotate a part thereof such that the rotation of part ofthe translation device causes rotation of said fin; said housing andsaid shaft make up a ball screw such that said shaft defines a helicalraceway that receives ball bearings located inside said housing.
 9. Amarine vessel stabilizer comprising: a fin having a stem extendingtherefrom, the stem configured to extend through a hull of the marinevessel and further configured to rotate, the stem having an end; an armconnected to the end and extending away from the end to a connector; atranslation device including a rod, a housing, a shaft and first andsecond ends; the rod having a hollow section; the housing coupled tosaid rod; the shaft passing through said housing such that the hollowsection is arranged concentrically relative to said shaft; saidtranslation device connected to said connector a motor connected to saidtranslation device and configured to rotate a part thereof such that therotation of part of the translation device causes rotation of said fin;and a removable stop configured to engage said arm such that when saidremovable stop is engaged, said fin is fixed in a pre-determinedposition.
 10. A marine vessel stabilizer comprising: a fin having a stemextending therefrom, the stem configured to extend through a hull of themarine vessel and further configured to rotate, the stem having an end;an arm connected to the end and extending away from the end to aconnector; a translation device including a rod, a housing, a shaft andfirst and second ends; the rod having a hollow section; the housingcoupled to said rod; the shaft passing through said housing such thatthe hollow section is arranged concentrically relative to said shaft;said translation device connected to said connector a motor connected tosaid translation device and configured to rotate a part thereof suchthat the rotation of part of the translation device causes rotation ofsaid fin; a sensor configured to read an angle of said fin; a controllercoupled to said sensor and said motor and further coupled to one or moreroll sensors of said vessel, said controller reading from said rollsensors a reading indicative of: a roll angle of the marine vessel, arate of change of the roll angle or acceleration of the roll angle, andcombinations thereof; software executing on said controller andcalculating a control signal indicative of a desired position of saidfin to reduce roll of the vessel; said controller transmitting saidcontrol signal to said motor to thereby rotate said fin towards thedesired position; said controller monitoring a position of said fin viathe sensor to determine when said position has reached the desiredposition.
 11. The device of claim 10 wherein said sensor is apotentiometer.
 12. The device of claim 11 wherein said sensor is coupledto said stem.
 13. The device of claim 10 wherein said sensor is anencoder.
 14. The device of claim 13 wherein said sensor is coupled tosaid electric motor or said housing or said stem.
 15. The device ofclaim 10 wherein said controller is further in communication with aspeed sensor to read a value indicative of a speed of the marine vessel,wherein the desired position is calculated at least in part based on thereading and the value.
 16. A marine vessel stabilizer comprising: a finhaving a stem extending therefrom, the stem configured to extend througha hull of the marine vessel and further configured to rotate, the stemhaving an end; an arm connected to the end and extending away from theend to a connector; a translation device including a rod, a housing, ashaft and first and second ends; the rod having a hollow section; thehousing coupled to said rod; the shaft passing through said housing suchthat the hollow section is arranged concentrically relative to saidshaft; said translation device connected to said connector a motorconnected to said translation device and configured to rotate a partthereof such that the rotation of part of the translation device causesrotation of said fin; and a fixed housing coupled to the stem such thatthe stem rotates within said fixed housing; a removable stop configuredto engage said fixed housing and said arm such that when said removablestop is engaged, said fin is fixed in a pre-determined position.
 17. Thedevice of claim 16 wherein said pre-determined position is a neutralposition of said fin.
 18. The device of claim 17 wherein said neutralposition places a lengthwise axis of the fin parallel to the lengthwiseaxis of the marine vessel.
 19. The device of claim 16 wherein saidremovable stop is a pin that engages said fixed housing and said arm viaa hole in said fixed housing and a hole in said arm.
 20. The device ofclaim 19 further comprising: at least one screw in said fixed housingand configured to rotate to contact and move the arm to align the holeof said fixed housing with the hole of said arm.
 21. A marine vesselstabilizer comprising: a fin having a stem extending therefrom, the stemconfigured to extend through a hull of the marine vessel and furtherconfigured to rotate, the stem having an end; an arm connected to theend and extending away from the end at a distance to a connector suchthat the connector is spaced apart from a center of the stem to create alever; a rod connected at a first end to the connector; a housingcoupled to a second end of said rod; a shaft passing through saidhousing; an electric motor connected to said shaft and configured torotate said shaft to cause translational movement of said housing alongan axis of said shaft which thereby rotates said fin.
 22. The device ofclaim 21 wherein said housing and said shaft make up a ball screw suchthat said shaft defines a helical raceway that receives ball bearingslocated inside said housing.
 23. The device of claim 21 furthercomprising: a sensor configured to read an angle of said fin; acontroller coupled to said sensor and said electric motor and furthercoupled to one or more roll sensors of the marine vessel, saidcontroller reading from said roll sensors a reading indicative of: aroll angle of the marine vessel, a rate of change of the roll angle oracceleration of the roll angle, and combinations thereof; softwareexecuting on said controller and calculating a control signal indicativeof a desired position of said fin to reduce roll of the marine vessel;said controller transmitting said control signal to said electric motorto thereby rotate said fin towards the desired position; said controllermonitoring a position of said fin via the sensor to determine when saidposition has reached the desired position.
 24. The device of claim 23wherein said sensor is a potentiometer or an encoder.
 25. The device ofclaim 24 wherein said potentiometer is coupled to said stem and saidencoder is coupled to said electric motor or said housing or said stem.26. The device of claim 23 wherein said controller is further incommunication with a speed sensor to read a value indicative of a speedof the marine vessel, wherein the desired position is calculated atleast in part based on the reading and the value.
 27. A marine vesselstabilizer system comprising: a fin having a stem extending therefrom,the stem configured to extend through a hull of the marine vessel andfurther configured to rotate, the stem having an end; an arm connectedto the end and extending away from the end to a connector; a rod havinga hollow section and connected at a first end to the connector; ahousing coupled to a second end of said rod; a shaft passing throughsaid housing; a motor connected to said shaft and configured to rotatesaid shaft when the marine vessel is at rest such that rotation of saidshaft causes translational movement of said housing along an axis ofsaid shaft to thereby rotate said fin between a maximum angle on eitherside of a neutral position of said fin wherein the maximum angle is atleast 15 degrees.
 28. The system of claim 27 wherein said fin is of afoil shape having a stall angle and said motor rotates said fin at anangle on either side of a neutral position and the angle is greater thansaid stall angle.
 29. The system of claim 27 further comprising: acontroller in communication with said electric motor, a sensor and aroll sensor, said controller calculating a control signal for said motorbased on a reading from the sensor indicative of a position of the finand a value from the roll sensor indicative of: a roll angle of themarine vessel, a rate of change in the roll angle or acceleration of theroll angle of the marine vessel, and combinations thereof; a fixedhousing receiving said stem through a hole in said fixed housing, thestem configured to rotate in said hole.
 30. The system of claim 29further comprising: a removable stop configured to engage said fixedhousing and said arm such that when said removable stop is engaged, saidfin is in a neutral position to neutralize the fin in the event of afailure of one or more parts of the marine vessel stabilizer system. 31.The system of claim 27 wherein the connector is removable to allow thearm to rotate to align a fixed housing and said arm so a removable stopcan be installed to position the fin in a fixed position.